On the Design of a Novel Dexterous Hand
نویسنده
چکیده
This paper addresses the design and development of a single-motor-driven dexterous hand. The hand possesses the following characteristics: (1) single electric actuator mechanism for multi-DOF’s through the use of clutches, (2) modular structure to support reconfigurability, and (3) cable-driven system to allow remote location of the actuator. Due to these features, the hand is able to provide a wide range of ability for various grasping and manipulation. In addition, the paper also conducts the kinematics analysis and develops an algorithm of torque calculation for the hand’s control system modeling.
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تاریخ انتشار 1999